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In the beginning of my phd, the aim was to conceive a pedestrian detection system using monocular vision. As the work was going on, we realized that using a unique sensor with a unique method would be cumbersome, if not impossible, mainly applied in ITS. Our goal has changed, then, to propose inovative synergistic methods using multiple sensors. Our work is intitled (read...), and was supported by the following organizations...

An object detecion system is usually comprised of 4 modules. Each one of them forms a field of research, and can be subject of deep investigation within a thesis work. Therefore, we focused our attention on object detection itself.

Our first proposed ensemble of classifiers.

Our second proposed ensemble of classifiers.

The rationale of the method at a glance is to explore the synergism of high performance detection system. Therefore, what we want is to find synergism between the representation of background and object.

This is our parts-based HLSM-FINT. We use the more hinted parts, while avoiding representing the limbs, which are hard to detect at certain distances.

3.
Goals
Object detection
using laser/vision
Proof-of-concept:
pedestrian detection,
but can be applied to
several other objects
Recover object
localization
DO NOT entirely
rely on laser, as
previous methods do
Perform the fusion in
a context-aware mode

22.
Conclusions
HFI has achieved better performance than its components, but failed
to get the gist of the fusion
HLSM-FINT has succeeded to capture the aimed synergism of the
fusion, but has had difficulties on hard situations (e.g. occlusion).
Parts-based occlusion has improved this issue.
The introduction of the laser sensor has brought significant
improvement
The proposed fusion method offers two main advantages:
Contextual and spatial relationship among the parts of the
object, dropping the false alarm rate
It is able to detect the object in spite of laser failing
The whole system is not able to run on-the-fly, although there is no
code optimization. Nevertheless, parallel hardware can provide
interesting plataform to make the system faster. It will be subject of
future research.